Cable-Driven Parallel Robot Design for Scanning 3D Art Objects
H.M. Waal (TU Delft - Mechanical Engineering)
P.T. Tempel – Mentor (TU Delft - Mechanical Engineering)
V. van der Wijk – Mentor (TU Delft - Mechanical Engineering)
A. Sakes – Graduation committee member (TU Delft - Mechanical Engineering)
J.L. Herder – Graduation committee member (TU Delft - Mechanical Engineering)
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Abstract
Cable Driven Parallel Robots, or CDPRs, might provide art historians and curators with an improved automated way of scanning 3D art objects. This application requires CDPRs to rotate around a 3D object with large panning and tilting, while avoiding collisions. While no designs exist for this purpose, this article investigates and proposes new cable robot geometries. First, we built a workspace model to quantify the performance of a design. A brainstorm and the ACCREx method then provided us with over 100 promising robot architectures. Their subsequent testing with the workspace model revealed the nine most promising architectures. Lastly, a geometry optimization resulted in the most favourable CDPR geometries. It appeared that mainly cable force limits, cable-statue and platform-statue collision are limiting the workspace of the CDPRs. In the end, the best enclosing and non-enclosing design are capable of reaching 29% and 16% respectively of the required 180 degrees workspace around the statue. Without extra panning and tilting these percentages are 79% and 66% respectively. Both designs show to which extend a statue can be scanned by a CDPR from one configuration.